OpenRaiser/Intern-Atlas huggingface dataset:
Unravelling Expressive Delegations: Complexity and Normative Analysis
Venue: arXiv cs.GT 2025
Year: 2025

We consider binary group decision-making under a rich model of liquid democracy recently proposed by Colley, Grandi, and Novaro (2022): agents submit ranked delegation options, where each option may be a function of multiple agents' votes; e.g., "I vote yes if a majority of my friends vote yes." Such ballots are unravelled into a profile of direct votes by selecting one entry from each ballot so as not to introduce cyclic dependencies. We study delegation via monotonic Boolean functions, and two unravelling procedures: MinSum, which minimises the sum of the ranks of the chosen entries, and its egalitarian counterpart, MinMax. We provide complete computational dichotomies: MinSum is hard to compute (and approximate) as soon as any non-trivial functions are permitted, and polynomial otherwise; for MinMax the easiness results extend to arbitrary-arity logical ORs and ANDs taken in isolation, but not beyond. For the classic model of delegating to individual agents, we give asymptotically near-tight algorithms for carrying out the two procedures and efficient algorithms for finding optimal unravellings with the highest vote count for a given alternative. These algorithms inspire novel tie-breaking rules for the setup of voting to change a status quo. We then introduce a new axiom, which can be viewed as a variant of the participation axiom, and use algorithmic techniques developed earlier in the paper to show that it is satisfied by MinSum and a lexicographic refinement of MinMax (but not MinMax itself).
EyePreserve: Identity-Preserving Iris Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

Synthesis of same-identity biometric iris images, both for existing and non-existing identities while preserving the identity across a wide range of pupil sizes, is complex due to the intricate iris muscle constriction mechanism, requiring a precise model of iris non-linear texture deformations to be embedded into the synthesis pipeline. This paper presents the first method of fully data-driven, identity-preserving, pupil size-varying synthesis of iris images. This approach is capable of synthesizing images of irises with different pupil sizes representing non-existing identities, as well as non-linearly deforming the texture of iris images of existing subjects given the segmentation mask of the target iris image. Iris recognition experiments suggest that the proposed deformation model both preserves the identity when changing the pupil size, and offers better similarity between same-identity iris samples with significant differences in pupil size, compared to state-of-the-art linear and non-linear (bio-mechanical-based) iris deformation models. Two immediate applications of the proposed approach are: (a) synthesis of, or enhancement of the existing biometric datasets for iris recognition, mimicking those acquired with iris sensors, and (b) helping forensic human experts examine iris image pairs with significant differences in pupil dilation. Images considered in this work conform to selected ISO/IEC 29794-6 quality metrics to make them applicable in biometric systems. The source codes and model weights are offered with this paper.
Sharing is CAIRing: Characterizing Principles and Assessing Properties of Universal Privacy Evaluation for Synthetic Tabular Data
Venue: arXiv cs.LG 2025
Year: 2025

Data sharing is a necessity for innovative progress in many domains, especially in healthcare. However, the ability to share data is hindered by regulations protecting the privacy of natural persons. Synthetic tabular data provide a promising solution to address data sharing difficulties but does not inherently guarantee privacy. Still, there is a lack of agreement on appropriate methods for assessing the privacy-preserving capabilities of synthetic data, making it difficult to compare results across studies. To the best of our knowledge, this is the first work to identify properties that constitute good universal privacy evaluation metrics for synthetic tabular data. The goal of universally applicable metrics is to enable comparability across studies and to allow non-technical stakeholders to understand how privacy is protected. We identify four principles for the assessment of metrics: Comparability, Applicability, Interpretability, and Representativeness (CAIR). To quantify and rank the degree to which evaluation metrics conform to the CAIR principles, we design a rubric using a scale of 1-4. Each of the four properties is scored on four parameters, yielding 16 total dimensions. We study the applicability and usefulness of the CAIR principles and rubric by assessing a selection of metrics popular in other studies. The results provide granular insights into the strengths and weaknesses of existing metrics that not only rank the metrics but highlight areas of potential improvements. We expect that the CAIR principles will foster agreement among researchers and organizations on which universal privacy evaluation metrics are appropriate for synthetic tabular data.
Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we address the problem of behavior-based cooperative navigation of mobile robots using safe multi-agent reinforcement learning~(MARL). Our work is the first to focus on cooperative navigation without individual reference targets for the robots, using a single target for the formation's centroid. This eliminates the complexities involved in having several path planners to control a team of robots. To ensure safety, our MARL framework uses model predictive control (MPC) to prevent actions that could lead to collisions during training and execution. We demonstrate the effectiveness of our method in simulation and on real robots, achieving safe behavior-based cooperative navigation without using individual reference targets, with zero collisions, and faster target reaching compared to baselines. Finally, we study the impact of MPC safety filters on the learning process, revealing that we achieve faster convergence during training and we show that our approach can be safely deployed on real robots, even during early stages of the training.
Automated MPI-X code generation for scalable finite-difference solvers
Venue: arXiv cs.DC 2025
Year: 2025

Partial differential equations (PDEs) are crucial in modeling diverse phenomena across scientific disciplines, including seismic and medical imaging, computational fluid dynamics, image processing, and neural networks. Solving these PDEs at scale is an intricate and time-intensive process that demands careful tuning. This paper introduces automated code-generation techniques specifically tailored for distributed memory parallelism (DMP) to execute explicit finite-difference (FD) stencils at scale, a fundamental challenge in numerous scientific applications. These techniques are implemented and integrated into the Devito DSL and compiler framework, a well-established solution for automating the generation of FD solvers based on a high-level symbolic math input. Users benefit from modeling simulations for real-world applications at a high-level symbolic abstraction and effortlessly harnessing HPC-ready distributed-memory parallelism without altering their source code. This results in drastic reductions both in execution time and developer effort. A comprehensive performance evaluation of Devito's DMP via MPI demonstrates highly competitive strong and weak scaling on CPU and GPU clusters, proving its effectiveness and capability to meet the demands of large-scale scientific simulations.
FLASH-TB: Integrating Arc-Flags and Trip-Based Public Transit Routing
Venue: arXiv cs.DS 2025
Year: 2025

We present FLASH-TB, a journey planning algorithm for public transit networks that combines Trip-Based Public Transit Routing (TB) with the Arc-Flags speedup technique. The basic idea is simple: The network is partitioned into a configurable number of cells. For each cell and each possible transfer between two vehicles, the algorithm precomputes a flag that indicates whether the transfer is required to reach the cell. During a query, only flagged transfers are explored. Our algorithm improves upon previous attempts to apply Arc-Flags to public transit networks, which saw limited success due to conflicting rules for pruning the search space. We show that these rules can be reconciled while still producing correct results. Because the number of cells is configurable, FLASH-TB offers a tradeoff between query time and memory consumption. It is significantly more space-efficient than existing techniques with a comparable preprocessing time, which store generalized shortest-path trees: to match their query performance, it requires up to two orders of magnitude less memory. The fastest configuration of FLASH-TB achieves a speedup of more than two orders of magnitude over TB, offering sub-millisecond query times even on large countrywide networks.
SADA: Semantic adversarial unsupervised domain adaptation for Temporal Action Localization
Venue: arXiv cs.CV 2025
Year: 2025

Temporal Action Localization (TAL) is a complex task that poses relevant challenges, particularly when attempting to generalize on new -- unseen -- domains in real-world applications. These scenarios, despite realistic, are often neglected in the literature, exposing these solutions to important performance degradation. In this work, we tackle this issue by introducing, for the first time, an approach for Unsupervised Domain Adaptation (UDA) in sparse TAL, which we refer to as Semantic Adversarial unsupervised Domain Adaptation (SADA). Our contributions are threefold: (1) we pioneer the development of a domain adaptation model that operates on realistic sparse action detection benchmarks; (2) we tackle the limitations of global-distribution alignment techniques by introducing a novel adversarial loss that is sensitive to local class distributions, ensuring finer-grained adaptation; and (3) we present a novel set of benchmarks based on EpicKitchens100 and CharadesEgo, that evaluate multiple domain shifts in a comprehensive manner. Our experiments indicate that SADA improves the adaptation across domains when compared to fully supervised state-of-the-art and alternative UDA methods, attaining a performance boost of up to 6.14% mAP.
The Adaptive Arms Race: Redefining Robustness in AI Security
Venue: arXiv cs.AI 2025
Year: 2025

Despite considerable efforts on making them robust, real-world AI-based systems remain vulnerable to decision based attacks, as definitive proofs of their operational robustness have so far proven intractable. Canonical robustness evaluation relies on adaptive attacks, which leverage complete knowledge of the defense and are tailored to bypass it. This work broadens the notion of adaptivity, which we employ to enhance both attacks and defenses, showing how they can benefit from mutual learning through interaction. We introduce a framework for adaptively optimizing black-box attacks and defenses under the competitive game they form. To assess robustness reliably, it is essential to evaluate against realistic and worst-case attacks. We thus enhance attacks and their evasive arsenal together using RL, apply the same principle to defenses, and evaluate them first independently and then jointly under a multi-agent perspective. We find that active defenses, those that dynamically control system responses, are an essential complement to model hardening against decision-based attacks; that these defenses can be circumvented by adaptive attacks, something that elicits defenses being adaptive too. Our findings, supported by an extensive theoretical and empirical investigation, confirm that adaptive adversaries pose a serious threat to black-box AI-based systems, rekindling the proverbial arms race. Notably, our approach outperforms the state-of-the-art black-box attacks and defenses, while bringing them together to render effective insights into the robustness of real-world deployed ML-based systems.
Moving a Derivation Along a Derivation Preserves the Spine in Adhesive Categories
Venue: arXiv cs.DM 2025
Year: 2025

In this paper, we investigate the relationship between two elementary operations on derivations in the framework of graph transformation based on adhesive categories: moving a derivation along a derivation based on parallel and sequential independence on one hand and restriction of a derivation with respect to a monomorphism into the start object on the other hand. Intuitively, a restriction clips off parts of the start object that are never matched by a rule application throughout the derivation on the other hand. As main result, it is shown that moving a derivation preserves its spine being the minimal restriction.
Fold Bifurcation Identification through Scientific Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

This study employs scientific machine learning to identify transient time series of dynamical systems near a fold bifurcation of periodic solutions. The unique aspect of this work is that a convolutional neural network (CNN) is trained with a relatively small amount of data and on a single, very simple system, yet it is tested on much more complicated systems. This task requires strong generalization capabilities, which are achieved by incorporating physics-based information. This information is provided through a specific pre-processing of the input data, which includes transformation into polar coordinates, normalization, transformation into the logarithmic scale, and filtering through a moving mean. The results demonstrate that such data pre-processing enables the CNN to grasp the important features related to transient time-series near a fold bifurcation, namely, the trend of the oscillation amplitude, and disregard other characteristics that are not particularly relevant, such as the vibration frequency. The developed CNN was able to correctly classify transient trajectories near a fold for a mass-on-moving-belt system, a van der Pol-Duffing oscillator with an attached tuned mass damper, and a pitch-and-plunge wing profile. The results contribute to the progress towards the development of similar CNNs effective in real-life applications such as safety monitoring of dynamical systems.
Designing a skilled soccer team for RoboCup: exploring skill-set-primitives through reinforcement learning
Venue: arXiv cs.RO 2025
Year: 2025

The RoboCup 3D Soccer Simulation League serves as a competitive platform for showcasing innovation in autonomous humanoid robot agents through simulated soccer matches. Our team, FC Portugal, developed a new codebase from scratch in Python after RoboCup 2021. The team's performance relies on a set of skills centered around novel unifying primitives and a custom, symmetry-extended version of the Proximal Policy Optimization algorithm. Our methods have been thoroughly tested in official RoboCup matches, where FC Portugal has won the last two main competitions, in 2022 and 2023. This paper presents our training framework, as well as a timeline of skills developed using our skill-set-primitives, which considerably improve the sample efficiency and stability of skills, and motivate seamless transitions. We start with a significantly fast sprint-kick developed in 2021 and progress to the most recent skill set, including a multi-purpose omnidirectional walk, a dribble with unprecedented ball control, a solid kick, and a push skill. The push addresses low-level collision scenarios and high-level strategies to increase ball possession. We address the resource-intensive nature of this task through an innovative multi-agent learning approach. Finally, we release the team's codebase to the RoboCup community, providing other teams with a robust and modern foundation upon which they can build new features.
Structure-Guided Automated Reasoning
Venue: arXiv cs.LO 2025
Year: 2025

Algorithmic meta-theorems state that problems definable in a fixed logic can be solved efficiently on structures with certain properties. An example is Courcelle's Theorem, which states that all problems expressible in monadic second-order logic can be solved efficiently on structures of small treewidth. Such theorems are usually proven by algorithms for the model-checking problem of the logic, which is often complex and rarely leads to highly efficient solutions. Alternatively, we can solve the model-checking problem by grounding the given logic to propositional logic, for which dedicated solvers are available. Such encodings will, however, usually not preserve the input's treewidth. This paper investigates whether all problems definable in monadic second-order logic can efficiently be encoded into \Lang{sat} such that the input's treewidth bounds the treewidth of the resulting formula. We answer this in the affirmative and, hence, provide an alternative proof of Courcelle's Theorem. Our technique can naturally be extended: There are treewidth-aware reductions from the optimization version of Courcelle's Theorem to MaxSAT and from the counting version of the theorem to \#SAT. By using encodings to SAT, we obtain, ignoring polynomial factors, the same running time for the model-checking problem as we would with dedicated algorithms. Another immediate consequence is a treewidth-preserving reduction from the model-checking problem of monadic second-order logic to integer linear programming (ILP). We complement our upper bounds with new lower bounds based on ETH; and we show that the block size of the input's formula and the treewidth of the input's structure are tightly linked.
Holistic analysis on the sustainability of Federated Learning across AI product lifecycle
Venue: arXiv cs.LG 2025
Year: 2025

In light of emerging legal requirements and policies focused on privacy protection, there is a growing trend of companies across various industries adopting Federated Learning (FL). This decentralized approach involves multiple clients or silos, collaboratively training a global model under the coordination of a central server while utilizing their private local data. Unlike traditional methods that necessitate data sharing and transmission, Cross-Silo FL allows clients to share model updates rather than raw data, thereby enhancing privacy. Despite its growing adoption, the carbon impact associated with Cross-Silo FL remains poorly understood due to the limited research in this area. This study seeks to bridge this gap by evaluating the sustainability of Cross-Silo FL throughout the entire AI product lifecycle, extending the analysis beyond the model training phase alone. We systematically compare this decentralized method with traditional centralized approaches and present a robust quantitative framework for assessing the costs and CO2 emissions in real-world Cross-Silo FL environments. Our findings indicate that the energy consumption and costs of model training are comparable between Cross-Silo Federated Learning and Centralized Learning. However, the additional data transfer and storage requirements inherent in Centralized Learning can result in significant, often overlooked CO2 emissions. Moreover, we introduce an innovative data and application management system that integrates Cross-Silo FL and analytics, aiming at improving the sustainability and economic efficiency of IT enterprises.
Completions of Kleene's second model
Venue: arXiv cs.LO 2025
Year: 2025

We investigate completions of partial combinatory algebras (pcas), in particular of Kleene's second model $\mathcal{K}_2$ and generalizations thereof. We consider weak and strong notions of embeddability and completion that have been studied before in the literature. It is known that every countable pca can be weakly embedded into $\mathcal{K}_2$, and we generalize this to arbitrary cardinalities by considering generalizations of $\mathcal{K}_2$ for larger cardinals. This emphasizes the central role of $\mathcal{K}_2$ in the study of pcas. We also show that $\mathcal{K}_2$ and its generalizations have strong completions.
Physics-informed neural network for modeling dynamic linear elasticity
Venue: arXiv cs.NE 2025
Year: 2025

In this work, we present the physics-informed neural network (PINN) model applied particularly to dynamic problems in solid mechanics. We focus on forward and inverse problems. Particularly, we show how a PINN model can be used efficiently for material identification in a dynamic setting. In this work, we assume linear continuum elasticity. We show results for two-dimensional (2D) plane strain problem and then we proceed to apply the same techniques for a three-dimensional (3D) problem. As for the training data we use the solution based on the finite element method. We rigorously show that PINN models are accurate, robust and computationally efficient, especially as a surrogate model for material identification problems. Also, we employ state-of-the-art techniques from the PINN literature which are an improvement to the vanilla implementation of PINN. Based on our results, we believe that the framework we have developed can be readily adapted to computational platforms for solving multiple dynamic problems in solid mechanics.
Manydepth2: Motion-Aware Self-Supervised Monocular Depth Estimation in Dynamic Scenes
Venue: arXiv cs.CV 2025
Year: 2025

Despite advancements in self-supervised monocular depth estimation, challenges persist in dynamic scenarios due to the dependence on assumptions about a static world. In this paper, we present Manydepth2, to achieve precise depth estimation for both dynamic objects and static backgrounds, all while maintaining computational efficiency. To tackle the challenges posed by dynamic content, we incorporate optical flow and coarse monocular depth to create a pseudo-static reference frame. This frame is then utilized to build a motion-aware cost volume in collaboration with the vanilla target frame. Furthermore, to improve the accuracy and robustness of the network architecture, we propose an attention-based depth network that effectively integrates information from feature maps at different resolutions by incorporating both channel and non-local attention mechanisms. Compared to methods with similar computational costs, Manydepth2 achieves a significant reduction of approximately five percent in root-mean-square error for self-supervised monocular depth estimation on the KITTI-2015 dataset. The code could be found at https://github.com/kaichen-z/Manydepth2.
SIRD: A Sender-Informed, Receiver-Driven Datacenter Transport Protocol
Venue: arXiv cs.NI 2025
Year: 2025

Datacenter congestion control protocols are challenged to navigate the throughput-buffering trade-off while relative packet buffer capacity is trending lower year-over-year. In this context, receiver-driven protocols -- which schedule packet transmissions instead of reacting to congestion -- excel when the bottleneck lies at the ToR-to-receiver link. However, when multiple receivers must use a shared link (e.g., ToR to Spine), their independent schedules can conflict. We present SIRD, a receiver-driven congestion control protocol designed around the simple insight that single-owner links should be scheduled, while shared links should be managed with reactive control algorithms. The approach allows receivers to both precisely schedule their downlinks and to coordinate over shared bottlenecks. Critically, SIRD also treats sender uplinks as shared links, enabling the flow of congestion feedback from senders to receivers, which then adapt their scheduling to each sender's real-time capacity. This results in tight scheduling, enabling high bandwidth utilization with little contention, and thus minimal latency-inducing buffering in the fabric. We implement SIRD on top of the Caladan stack and show that SIRD's asymmetric design can deliver 100Gbps in software while keeping network queuing minimal. We further compare SIRD to state-of-the-art receiver-driven protocols (Homa, dcPIM, and ExpressPass) and production-grade reactive protocols (Swift and DCTCP) and show that SIRD is uniquely able to simultaneously maximize link utilization, minimize queuing, and obtain near-optimal latency.